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Replay: support body frame odometry

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This commit is contained in:
Andrew Tridgell 2020-11-07 16:57:11 +11:00
parent 851cb30e0d
commit 3d2f07e757
3 changed files with 13 additions and 0 deletions
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5
Tools/Replay/LR_MsgHandler.cpp
View File

@ -247,6 +247,11 @@ void LR_MsgHandler_RWOH::process_message(uint8_t *msg)
AP::dal().handle_message(MSG_CAST(RWOH,msg), ekf2, ekf3);
}
void LR_MsgHandler_RBOH::process_message(uint8_t *msg)
{
AP::dal().handle_message(MSG_CAST(RBOH,msg), ekf2, ekf3);
}
void LR_MsgHandler_REPH::process_message(uint8_t *msg)
{
AP::dal().handle_message(MSG_CAST(REPH,msg), ekf2, ekf3);

6
Tools/Replay/LR_MsgHandler.h
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@ -106,6 +106,12 @@ class LR_MsgHandler_RWOH : public LR_MsgHandler_EKF
void process_message(uint8_t *msg) override;
};
class LR_MsgHandler_RBOH : public LR_MsgHandler_EKF
{
using LR_MsgHandler_EKF::LR_MsgHandler_EKF;
void process_message(uint8_t *msg) override;
};
class LR_MsgHandler_RFRN : public LR_MsgHandler
{
public:

2
Tools/Replay/LogReader.cpp
View File

@ -228,6 +228,8 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
msgparser[f.type] = new LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3);
} else if (streq(name, "RWOH")) {
msgparser[f.type] = new LR_MsgHandler_RWOH(formats[f.type], ekf2, ekf3);
} else if (streq(name, "RBOH")) {
msgparser[f.type] = new LR_MsgHandler_RBOH(formats[f.type], ekf2, ekf3);
} else {
// debug(" No parser for (%s)\n", name);
}